5.

PROBLEM FORMULATION
For any optimization problem, the problem formulation is the first and foremost step. In the case
of design optimization of force of robot gripper, the problem is formulated as follows.
Consider the example of robot gripper the scheme of which is presented in Fig5.1

Figure 5-1 The scheme of robot dripper mechanism

5.1 Objective function
In this problem the following objective functions are considered
1.

the function which describes the difference between maximum and minimum griping

forces for the assumed range of the gripper ends displacements

(5.6)

2. .

the function which describes the force transmission ratio between the gripper actuator

and the gripper ends

--

3.

(5.7)

the function which describes the shift transmission ratio between the gripper actuator

and the gripper ends.

(5.8)

4.

: the function which describes the lengths of all the elements of the gripper.

(5.9)

5.

:the function which describes the efficiency of the gripper mechanism

(5.10 )

The problem contains five objective functions it is necessary to find the combined objective
function, by introducing weight age factors it can be done in three cases

In the first case the combined objective function has the first two objective function.In the
second case the combined objective function has the last three objects functions.In the third case
the combined objective function has all the five objective functions

For the first case

For the second cas

For third case

Where
The objective functions

are minimization functions while

maximization function
are the weightage factors for objective functions

respectively

is

are the normalizing parameters to bring all

objective functions in the same decimal point and unitless
5.2 Design variables
The upper and lower bounds on two design variables are
1.
2.
3.
4.
5.
6.
7.

10 a 150
10 b 150
100 c 200
0 e 50
10 f 150
100 l 300
1 3.14

5.3 Design constraints

From the geometry of gripper the following constraints can be derived

Where

Displacement of the gripper end,

Minimal dimension of the gripper,

=50 mm

Maximal dimension of the gripper,

=100 mm

Maximal range of the gripper ends displacement,

=150 mm

Maximal displacement of the gripper actuator.

=100 mm

Actuating force, P = 100 N

(5.5)

( 5.2)

(5.3)

(5.1)

Note: Along with those constaints please consider take some constraints
such that
COS and Tan functions exists.